System and method for minimally invasive posterior fixation

ABSTRACT

The present invention relates generally to systems and methods for aligning and implanting orthopedic fixation or stabilization implants within the body. In one embodiment, the system includes at least two bone anchors, at least one of which is provided with an angularly adjustable connector. In one aspect, the system also includes at least one linkage rod, for linking two or more bone anchors through their respective adjustable connectors. The bone anchors and the linkage rod may be locked into place to form a spinal fusion or fixation prosthesis. An alignment tool is provided, for guiding a guidewire through one or more connectors.

This application is a divisional of co-pending U.S. application Ser. No.10/462,098, filed Jun. 13, 2003, the entire contents of which are herebyincorporated by reference.

RELATED APPLICATIONS

This application claims priority under 35 U.S.C. §119(e) to U.S.Provisional Application No. 60/465,902 filed on Apr. 25, 2003, thedisclosure of which is incorporated by reference in its entirety herein.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to medical devices and, moreparticularly, to systems for aligning and implanting orthopedic fixationor stabilization implants within the body. In one application, thepresent invention relates to minimally invasive procedures and devicesfor implanting posterior instrumentation.

2. Description of the Related Art

The human vertebrae and associated connective elements are subject to avariety of diseases and conditions which cause pain and disability.Among these diseases and conditions are spondylosis, spondylolisthesis,vertebral instability, spinal stenosis and degenerated, herniated, ordegenerated and herniated intervertebral discs. Additionally, thevertebrae and associated connective elements are subject to injuries,including fractures and torn ligaments and surgical manipulations,including laminectomies.

The pain and disability related to these diseases, conditions, injuriesand manipulations often result from the displacement of all or part of avertebra from the remainder of the vertebral column. A variety ofmethods have been developed to restore the displaced vertebrae orportions of displaced vertebrae to their normal position and to fix themwithin the vertebral column. For example, open reduction with screwfixation is one currently used method. The surgical procedure ofattaching two or more parts of a bone with pins, screws, rods and platesrequires an incision into the tissue surrounding the bone and thedrilling of one or more holes through the bone parts to be joined. Dueto the significant variation in bone size, configuration, and loadrequirements, a wide variety of bone fixation devices have beendeveloped in the prior art. In general, the current standard of carerelies upon a variety of metal wires, screws, rods, plates and clamps tostabilize the bone fragments during the healing or fusing process. Thesemethods, however, are associated with a variety of disadvantages, suchas morbidity, high costs, lengthy in-patient hospital stays and the painassociated with open procedures.

Therefore, devices and methods are needed for repositioning and fixingdisplaced vertebrae or portions of displaced vertebrae which cause lesspain and potential complications. Preferably, the devices areimplantable through a minimally invasive procedure.

SUMMARY OF THE INVENTION

In accordance with one aspect of the present invention, a system isprovided for the minimally invasive implantation of posterior fixationhardware. The system generally includes at least two bone anchors, atleast one of which is provided with an adjustable connector. In manyclinical situations, all of the bone anchors used in the system may beprovided with adjustable connectors. The system may also include adriver for inserting the bone anchor into a bone and locking theadjustable connector. The system also includes at least one linkage rod,for linking two or more bone anchors through their respective adjustableconnectors. In one embodiment, an insertion tool is provided for theinsertion of the linkage rod. The bone anchors and the linkage rod maybe fixed to each other by the locking of the adjustable connectors onthe bone anchors, to subcutaneously form a prosthesis.

In accordance with another aspect of the present invention, the systemadditionally includes a guidance apparatus for the minimally invasiveimplantation of posterior fixation hardware. In one embodiment, theguidance apparatus includes a central support arm adapted to engage abone anchor. A radial arm is pivotably attached to the central arm. Ahollow access needle is secured to the radial arm. The radial arm ispivotable with respect to the central arm, to allow the hollow accessneedle to travel along an arcuate path, for guiding a guidewire througha tissue tract and into and through at least one adjustable connector ona bone anchor (or bone screw). The hollow access needle may removablycarry an obturator, to facilitate percutaneous advancement. The hollowneedle may additionally removably carry a distal guidewire capturedevice, for capturing a proximally advancing guidewire subcutaneouslywithin the hollow access needle. The guidewire capture device maycomprise a radially enlargeable structure such as a conical funnel, fordeflecting an approaching guidewire into the lumen of the hollow accessneedle.

In another aspect of the present invention, a method is provided for theminimally invasive implantation of posterior fixation hardware. In oneembodiment, the method comprises the insertion of a first bone anchor,having a first adjustable connector, into a first vertebral body. Asecond bone anchor, having a second adjustable connector, is insertedinto a second vertebral body. The first and second vertebral bodies maybe adjacent to each other, or separated by one or more other vertebralbody or bodies. A linkage rod is inserted through the adjustableconnectors of both bone anchors. The adjustable connector of each boneanchor is then locked, fixing the position of the adjustable connectorwithin the bone anchor, and securing the linkage rod within theadjustable connector, to form a prosthesis.

In accordance with another embodiment of the present invention, themethod further comprises the insertion of another bone anchor with anadjustable connector into another vertebral body. This latter vertebralbody may be adjacent to either or both of the first and second vertebralbodies, or separated from both the first and second vertebral bodies.The linkage rod is inserted through the adjustable connectors of all ofthe bone anchors to form the prosthesis.

In accordance with another embodiment of the present invention, themethod additionally includes the placement of one or more guide wires. Aguide wire may be inserted into a bone to define a path for theinsertion of a bone anchor. Another guide wire may be threaded throughthe adjustable connectors of two or more bone anchors, to guide theinsertion of the linkage rod. The guide wire may be placed using theguidance apparatus described above.

In any of the foregoing systems and methods, the guide wire may bereplaced or supplemented by a flexible guide tube. In suchimplementations of the invention, the bone anchor and/or the linkage rodmay be advanced through the interior of the guide tube.

Further features and advantages of the present invention will becomeapparent to those skilled in the art in view of the detailed descriptionof preferred embodiments which follows, when considered together withthe attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an overview of a system for minimally invasive posteriorspinal fixation according to one embodiment of the present invention.

FIG. 2 is an exploded view of the bone anchor and the driver of FIG. 1.

FIG. 3A is an enlarged view of the circled area in FIG. 2.

FIG. 3B illustrates an angularly adjustable connector with rotationlimits according to another embodiment.

FIG. 3C illustrates a connector, a locking cap and its complementaryinner adapter according to yet another embodiment.

FIGS. 3D-3F illustrate the connector illustrated in FIG. 3C in furtherdetail.

FIG. 3G is a cross-sectional view of an angularly adjustable connectorwith rotation limits positioned within a head of a bone anchor accordingto another embodiment.

FIG. 4 is another view of the system for minimally invasive posteriorspinal fixation illustrated in FIG. 1, with the linkage rod detachedfrom its insertion tool.

FIG. 5 is an enlarged view of the circled area in FIG. 4.

FIG. 6 is another view of the system for minimally invasive posteriorspinal fixation illustrated in FIG. 4.

FIGS. 7-12 illustrate the use of positioning tools to position a guidewire into a vertebral body.

FIGS. 13-14 illustrate the use of a dilation balloon catheter to dilatea tissue tract.

FIGS. 15-20 illustrate the positioning of a sheath adjacent to avertebral body.

FIGS. 21-23 illustrate a drill used to create an opening in a vertebralbody to receive a bone anchor.

FIGS. 24-25 illustrate advancing a bone anchor over the wire towards avertebral body.

FIGS. 26-27 illustrate a bone anchor and the driver used to insert thebone anchor into a vertebral body.

FIGS. 28-31 illustrate the use of the driver to insert a bone anchorinto a vertebral body.

FIG. 32 illustrates two bone anchors positioned in two adjacentvertebral bodies.

FIG. 33 illustrates an alignment device for positioning a guidewirethough a bone anchor in accordance with one aspect of the presentinvention.

FIG. 34 illustrates a flexible obturator for positioning within thearcuate arm of the alignment device.

FIG. 35 illustrates a first alignment device coupled to first boneanchor, and a second alignment device coupled to a second bone anchor.

FIGS. 36 and 37 illustrate a guidewire capture device, for positioningwithin the arcuate arm on an alignment device.

FIG. 38 illustrates the first and second alignment devices, with aguidewire advancing from the first alignment device towards the capturedevice carried by the second alignment device.

FIG. 39 is an illustration as in FIG. 38, after the guidewire hasentered the guidewire capture device and traversed the curved arm on thesecond alignment device.

FIG. 40 is a side elevational view of a linkage rod, decoupled from aninsertion tool, both over a guidewire.

FIG. 41 is a side elevational perspective view of a guidewire positionedthrough two adjacent bone anchors, and a linkage rod being advancedalong the guidewire by an insertion tool.

FIG. 42 is an illustration as in FIG. 41, with the linkage rodpositioned within the first and second bone anchors.

FIG. 43 is an illustration as in FIG. 42, with a driver in position tolock the first bone anchor to the linkage rod.

FIG. 44 is an illustration as in FIG. 43, with a portion of the drivertool proximally retracted.

FIG. 45 is an illustration as in FIG. 44, with the driver toolretracted, the first and second bone anchors locked onto the linkagerod, and the insertion tool decoupled from the linkage rod.

FIG. 46 is an illustration as in FIG. 45, with the insertion tool andthe guidewire removed from the linkage rod, illustrating a formed inplace one level posterior fusion device in accordance with the presentinvention.

FIG. 47 is an illustration as in FIG. 46, showing a two level fusion orfixation device, percutaneously assembled in accordance with the presentinvention.

FIG. 48 is a side elevational schematic view of an alternate linkage rodin accordance with the present invention.

FIG. 49 is an enlarged exploded view as in FIG. 3A, showing the proximalend of a bone anchor adapted for use with the linkage rod of FIG. 48.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Although the application of the present invention will be disclosedprimarily in the context of a spinal fixation procedure, the systems andmethods disclosed herein are intended for use in a wide variety ofmedical applications where the minimally invasive implantation of anattachment, bulking, brace, support, fixation or other prosthesis may bedesirable.

One advantage of the prosthesis formation described in the variousembodiments of the present invention is the ability to access atreatment site through minimally invasive pathways, while allowing theformation of a relatively larger prosthesis at the treatment site. Inone embodiment, various components of a prosthesis are inserted into apatient through minimally invasive pathways, then joined to form asingle prosthesis. This is facilitated by the angularly adjustableconnectors between the various components, which provide leeway orangular adjustability as the components are joined. Afterwards, thejunctions between the various components may be locked to fix or set theprosthesis in a desired configuration.

A corollary advantage of several embodiments is the ability to unlockand adjust one or more junctions between components of the prosthesis,to set the prosthesis in other desirable configurations during or evenafter its implantation and formation. The prosthesis may thus beadjusted in subsequent procedures.

The systems and methods for spinal fixation according to variousembodiments of the present invention minimize procedure morbidity byavoiding open surgical cutdowns or other invasive access procedures. Thebasic percutaneous access, bone screw construction and implantationmethods, and methods and structures for percutaneously positioning afixation rod across bone screws, all of which are useful in the practiceof the present invention, are disclosed in U.S. patent application Ser.No. 09/747,066, entitled Percutaneous Vertebral Fusion System, toTeitelbaum, filed Dec. 21, 2000; U.S. patent application Ser. No.09/943,636 to Shaolian et al., entitled Formable Orthopedic FixationSystem, filed Aug. 29, 2001; U.S. patent application Ser. No. 09/976,459to Teitelbaum et al., entitled Formable Orthopedic Fixation System withCross-Linking, filed Oct. 10, 2001; and U.S. patent application Ser. No.10/161,554 to Shaolian et al., entitled Formed in Place Fixation Systemwith Thermal Acceleration, filed May 31, 2002; the disclosures of all ofwhich are hereby incorporated in their entireties by reference herein.

An overview of a system for minimally invasive posterior spinal fixationaccording to one embodiment of the present invention is provided inFIG. 1. The system includes at least two and optionally three or four ormore bone anchors 100 and a linkage rod 200. In FIG. 1, the bone anchorsare shown connected by the linkage rod 200. The system also includes adriver 150, shown engaging one of the bone anchors 100, and an insertiontool 250, shown connected to the linkage rod 200. Although the presentinvention will be described primarily in the context of a single linkagerod connected to two bone anchors, the normal fusion application willinvolve the implantation of two linkage rods, each carried by two ormore bone anchors, bilaterally symmetrically mounted on the spine as iswell understood in the art.

FIG. 2 shows an exploded view of the bone anchor 100 and the driver 150.The bone anchor 100 is provided with threads 102 by which it is screwedinto a vertebral body. A connector 104 and a locking cap 106 aredisposed within the head 108 of the bone anchor 100.

The driver 150 comprises an outer adapter 152 concentrically arrangedaround an inner adapter 154. Either adapter may be freely rotated withrespect to the other. The outer adapter 152 is adapted to engage thehead 108, to screw the bone anchor 100 into a bone. The inner adapter154 is adapted to engage the locking cap 106, to tighten the connector104 within the head 108. In one embodiment, the hexagonal proximal end156 of the outer adapter 152 allows torque to be applied to the outeradapter 152 by means of a wrench, a spanner or another tool. Similarly,the hexagonal proximal end 158 of the inner adapter 154 allows torque tobe applied to the inner adapter 154.

Releasable, rotational engagement between the driver and the bone anchormay be accomplished in any of a variety of ways. In the illustratedembodiment, the distal end the inner adapter 154 is provided with atleast one surface for cooperating with a complimentary surface on theproximal end of the bone anchor 100, for transmitting torque from theinner adapter 154 to the bone anchor 100, to enable transmission oftorque from the inner adapter 154 to locking cap 106. Similarly, thedistal end of the outer adapter 152 is provided with at least onesurface for cooperating with a complimentary surface on the proximal endof the bone anchor 100, for transmitted torque from the outer adapter152 to the bone anchor 100 to enable credible engagement between thebone anchor 100 and the vertebral body.

In one embodiment, the bone anchor 100, its connector 104, its lockingcap 106, and the inner adapter 154 are all provided with a central axiallumen through which a guide wire 190 may pass.

FIG. 3A is an enlarged view of the circled area in FIG. 2, showing theproximal head 108 of the bone anchor 100 and the distal ends of theouter adapter 152 and the inner adapter 154. The connector 104 and thelocking cap 106 are disposed within the head 108. In one embodiment, theconnector 104 is spherical with an aperture 110 extending therethrough,and a gap 112 in its circumference, such that it is approximatelyC-shaped when viewed along the central axis of the aperture 110. Theaperture 110 is adapted for the insertion of a linkage rod (not shown),and has a diameter slightly larger than that of the linkage rod. Oneskilled in the art will understand that the connector 104 can beprovided in a variety of suitable shapes.

In one embodiment, the connector 104 is seated on a race or groove 114within the head 108. The groove 114 is preferably provided with acomplementary surface to the spherical exterior surface of the connector104. The connector 104 may rotate on any axis within the head 108 of thebone anchor (or bone screw) 100. A locking cap 106 may be threaded intothe head 108 to lock the connector 104 against the linkage rod 200, bycompressing the groove 114, fixing the connector 104 within the head108. The bottom of the locking cap 106 may be provided with a concavesurface (not shown) which is complementary to the spherical exteriorsurface of the connector 104.

A transverse portal 116 extends through the head 108 along an axisapproximately perpendicular to the central axis of the bone anchor 100.While the aperture 110 of the connector 104 and the transverse portal116 of the head 108 are illustrated as circular, they may be ofdifferent shapes in other embodiments, depending upon the crosssectional shape of the fixation rod (e.g. oval, elliptical, rectangular,square, etc.). The diameter of the transverse portal 116 is generallysmaller than the outside diameter of the uncompressed connector 104 butgreater than the inside diameter of the aperture 110. Before the lockingcap 106 is tightened, the connector 104 may rotate on any axis withinthe head 108 to accommodate different entrance angles for the fixationrod. Thus the central axis of the aperture 110 and the central axis ofthe transverse portal 116 may be coaxial or angularly offset.

In one embodiment, the threading of the locking cap 106 into the head108 compresses the connector 104, decreasing the width of the gap 112and reducing the cross sectional area of the aperture 110. This securesa linkage rod (not shown) extending through the transverse portal 116 ofthe bone anchor 100 within the aperture 110. The tightening of thelocking cap 106 into the head 108 also fixes the rotational position ofthe connector 104 within the head 108.

FIG. 3B illustrates an alternate connector 104′. Similar to theconnector 104 described above, the connector 104′ is provided with anaperture 110′ having a longitudinal axis and a gap 112′. The sphericalexterior surface of the connector 104′ is provided with one or two orthree or more surface structures such as projections or indentations111. The indentations 111 receive complementary surface structures suchas projections provided within the head 108 of the bone anchor 100 tolimit the degree of rotation of the connector 104′ within the head 108.For example, FIG. 3G illustrates an exemplary embodiment wherein thecomplementary surface structure comprises a pin 101 that may be laserwelded or otherwise coupled to or integrally formed with the screw head108. As described above, the pin 101 interacts with the indentation 111to limit the degree of rotation of the connector 104′ within the head108. In one specific embodiment, the connector 104′ is limited to about30 degrees of rotation on any axis within the head 108, from thelongitudinal axis through the transverse portal 116. In otherembodiments, the connector 104′ may be limited to a range of up to about60 degrees of rotation from the longitudinal axis. In one embodiment,the connector 104′ is limited to no more than about 5 degrees or about10 degrees of rotation on any axis from the longitudinal axis.

In general, the rotation of the connector 104′ is limited such that theaperture will always be exposed through transverse portal 116 to thelinkage rod 200. As can be seen, for example, in FIG. 4, below, thelinkage rod 200 may be provided with a tapered distal end 201. Thetapered distal end 201 may be machined or molded integrally with thelinkage rod 200, or may be separately formed and attached to the linkagerod 200. In one implementation, the tapered end 201 may be a polymericcomponent such as nylon, HDPE, PEBAX or other materials known in theart. The tapered tip 201 facilitates advance of the linkage rod 200through aperture 110, by causing the connector 104 to pivot about itscenter of rotation into alignment for receiving the linkage rod 200. Inthis manner, the connector 104 will self align with the linkage rod 200to accommodate any of a wide variety of angular relationships that maybe found in vivo.

FIG. 3C is similar to FIG. 3A above, and illustrates an inner adapter154′ and a locking cap 106′ according to another embodiment. In oneembodiment, the inner adapter 154′ is provided with a Torx distal end158′ which is adapted to engage a complementary Torx opening 120′ at thetop of the locking cap 106′. Any of a variety of complementary surfacestructures may be used, as will be understood in the art in view of thedisclosure herein.

FIG. 3C illustrates a connector 104″ according to another embodiment.Similar to the connectors 104 and 104′ described above, the connector104″ is provided with an aperture 110″ and one or more compressible gaps112″. The gaps 112″ are provided with a compressible material whichcompresses when the locking cap 106′ tightens the connector 104″ againstthe groove 114 within the head 108. Compressible material, including anyof a variety of compressible polymeric materials known in the medicaldevice arts can be used according to several embodiments of the presentinvention. One skilled in the art will appreciate that other suitableflexible or compressible materials may also be used. In addition, any ofa variety of metal (stainless steel, titanium, etc.) connectors 104 maybe configured such that the aperture 110 is moveable from a first, largecross-section, for receiving a linkage rod 200 therethrough, to asecond, reduced cross section for locking the linkage rod 200 in place.This may be accomplished by providing opposing components forming theside wall of the connector 104 with any of a variety of interlockingstructures such as ramp and pawl ratchet structures, or sliding fitstructures which permit a reduction in the diameter in the aperture 110under compressive force from the locking cap 106.

In an alternate embodiment, portions or all of the connector 104comprise a compressible media such as an open cell foam, closed cellfoam or solid compressible material. Structures comprising polyethylene,PEEK, nylon, and other polymers known in the medical arts may beutilized, depending upon the construction and desired compressibility.In general, the combination of material and the structure of theconnector 104 is sufficient to allow angular adjustment of thelongitudinal axis of the aperture 110, to accommodate various entranceangles of the linkage rod 200. After the linkage rod 200 has beenpositioned within the aperture 110, rotational and/or axial movement ofa locking element such as locking cap 106 functions to both preventaxial movement of the linkage rod 200 within the aperture 110, as wellas prevent further angular adjustment of the longitudinal axis of theaperture 110 with respect to the longitudinal axis of the bone anchor100.

FIGS. 3D-3F illustrate the connector 104″, the aperture 110″, the gaps112″, and a compressible or foldable membrane or link 115 in greaterdetail. FIG. 3D is an isometric view of the connector 104″. FIG. 3E is afront plan view of the connector 104″ viewed along the central axis ofthe aperture 110″. FIG. 3F is the corresponding side plan view. In theembodiment illustrated in FIGS. 3D-3F, the compressible link is formedby grinding, laser etching, molding or otherwise forming a recess suchas a V-shaped channel 113 that leaves a thin link 115 which folds flatwhen the connector 104″ is compressed. One of ordinary skill in the artwill understand that compressible materials and structures can beprovided in a variety of suitable shapes and forms.

In one embodiment, the apertures 110′ and 110″ have a tendency to returnto their original diameters even after the connectors 104 and 104′,respectively, are compressed by the locking cap 106 against the groove114 within the head 108. This tendency results from the resiliency ofthe metal, alloy or other material used to make the connectors 104 and104′. The use of compressible material, such as V-shaped channels 113 inthe gaps 112″ of the connector 104″, reduces or eliminates this tendencyand may allow a linkage rod (not shown) to be more firmly secured withinthe aperture 110″. One skilled in the art will understand that theconnectors 104 and 104′ can be made from lower resiliency materialswhich can also reduce or eliminate the tendency of apertures 110′ and110″ to return to their original diameters.

As discussed above with reference to FIG. 2, in one embodiment, theouter adapter 152 is adapted to engage the head 108, and the inneradapter 154 is adapted to engage the locking cap 106. In the illustratedembodiment, projections 156 on the distal end of the outer adapter 152are adapted to engage complementary projections 118 on the head 108 ofthe bone anchor 100. The hexagonal distal end 158 of the inner adapter154 is adapted to engage a complementary hexagonal opening 120 at thetop of the locking cap 106.

Although specific interlocking relationships between the driver 150 andthe bone anchor 100 are illustrated herein, the present inventorscontemplate a variety of modifications. For example, the male-femalerelationship between the driver and the implant may be reversed, foreither or both of the inner adaptor 154 and outer adapter 152. Inaddition, each of the inner adapter 154 and outer adapter 152 isprovided with a surface structure for enabling rotational engagementwith a corresponding component on the implant. Although this may beconveniently executed using corresponding hexagonal male and femalecomponents, any of a variety of alternative structures may be utilizedin which a first surface on the inner adapter 154 or outer adapter 152cooperates with a second, complementary surface on the correspondingaspect of the bone anchor 100, for allowing rotational engagement,followed by axial decoupling.

In FIG. 4, the linkage rod 200 is shown positioned within two adjacentbone anchors 100, and released from the insertion tool 250. Theinsertion tool 250 is provided for the insertion of the linkage rod 200into the bone anchors 100. The insertion tool 250 comprises an arm 252and a handle 254. In the illustrated embodiment, the arm 252 is curvedto facilitate insertion of the linkage rod 200 into the bone anchors 100within a patient along a curved tissue tract which passes through theaperture 10 of at least each of a first bone anchor and a second boneanchor. A central control line 256 (shown mostly in phantom) such as atorque transmission tube, rod or cable extends through an axial lumen ofthe insertion tool 250, and terminates at a control such as a knob 258at the proximal end of the insertion tool 250. A screw (not shown)threaded into a tunnel 260 extending along a radius of the knob 258 maybe used to secure the control line 256 within the knob 258. The controlline 256 is provided with a threaded distal tip 262. Rotating the knob258 thus rotates the control line 256 and its threaded distal tip 262 toengage or disengage the linkage rod 200.

In one embodiment, both the linkage rod 200 and the control line 256 areprovided with a central axial lumen for the passage over a guide wire.

FIG. 5 is an enlarged view of the circled area in FIG. 4, showing thedistal end of the outer adapter 152, the bone anchor 100, the linkagerod 200, and the distal end of the arm 252 of the insertion tool. Thelinkage rod 200 is shown fixed within the head 108 of the bone anchor100.

The linkage rod 200 is provided with a hexagonal proximal end 202adapted to engage a complementary hexagonal socket (not shown) in thedistal end of the arm 252 of the insertion tool. In some embodiments,alternative complementary surface structures may be provided on thelinkage rod 200 and the arm 252 to rotationally fix their orientationwith respect to one another. In the illustrated embodiment, thehexagonal proximal end 202 is provided with a dimple 204 adapted toengage a complementary nub (not shown) within the hexagonal socket (notshown) in the distal end of the arm 252 of the insertion tool. Thedimple 204 and nub (not shown) fix the axial orientation of the linkagerod 200 with respect to the arm 252. The threaded distal tip 262 of thecontrol line 256 may be threaded into a complementary threaded hole 206in the hexagonal proximal end 202 of the linkage rod 200, enabling thelinkage rod 200 to be detachably secured to the arm 252 of the insertiontool. The threaded distal tip 262 may be threaded into the threaded hole206 by rotating the knob (not shown) at the proximal end of theinsertion tool. Unthreading the threaded distal tip 262 from thethreaded hole 206 allows the linkage rod 200 to be released from theinsertion tool 250.

In one embodiment, the outer adapter 152 is provided with an opening 160extending along a diameter for fluoroscopic or other visualization ofthe rotational orientation of the outer adapter 152, to align the portal116 of the bone anchor 100 engaged by the outer adapter 152. Towardsthis end, the axis of the opening 160 is preferably arranged at a rightangle to the axis of the portal 116 as shown in FIG. 5. To visualize theaxial position of the outer adapter 152 and the bone anchor 100, theinner adapter 154 may be temporarily retracted so that it does not blockthe opening 160. In another embodiment a translucent marker may beinstalled in opening 160 for fluoroscopic or other visualization of theouter adapter 152.

Alternatively, any of a variety of other indicium of the rotationalorientation of the bone anchor 100 may be provided. For example, thecomplementary surface structures between the proximal end of the boneanchor 100 and the distal end of the insertion tool 250 may beconfigured to only allow coupling between the two components in apredetermined rotational orientation. In this construction, visualindicia may be provided on a portion of the insertion tool 250 (e.g. “T”handle, painted or etched markings or other indicium) which remainsexternal to the patient, to allow direct visual observation of therotational orientation of the longitudinal axis of the transverse portal116.

FIG. 6 illustrates the described system from another angle. The knob andits attached central cable have been removed for clarity. The hexagonalsocket 264 adapted to engage the hexagonal proximal end 202 of thelinkage rod 200, as described above, is shown. The nub 266 adapted toengage the dimple (not shown) on the hexagonal proximal end 202 of thelinkage rod 200 is also shown.

In several embodiments, the components of the bone anchor, the linkagerod, the driver, and the arm of the insertion tool may be made oftitanium, stainless steel or any other suitable metals, alloys, ormaterial. The handle of the insertion tool is preferably made of asuitable non-slip material. The selection of these materials for themanufacture of the components and devices described in the aboveembodiments would be known by those skilled in the art.

Methods for the minimally invasive implantation of posterior fixationhardware according to embodiments of the present invention are disclosedin the context of a spinal fixation procedure with reference to FIGS.7-45. Additional details concerning the method are disclosed in thecopending patent applications incorporated by reference previouslyherein. Although the methods and instruments of the present inventioncan be utilized in an open surgical procedure, the present invention isoptimized in the context of a percutaneous or minimally invasiveapproach. Thus, the method steps which follow and those disclosed in thecopending patent applications incorporated by reference herein areintended for use in a trans tissue approach. However, to simplify theillustrations, the soft tissue adjacent the treatment site is notillustrated in the drawings discussed below.

In FIGS. 7 and 8, a trocar 300 is inserted through a tissue tract andinto a vertebral body 310. The trocar 300 comprises a sharp-tipped rod(not shown) attached to a proximal or top half-handle 302. Thesharp-tipped rod is arranged concentrically within a cannula 304, whichis attached to the bottom half-handle 306 of the trocar 300. The tophalf-handle 302 and the bottom half-handle 306 of the trocar 300 arescrewed together for initial use, as shown in FIGS. 7-8. The trocar 300is inserted through the skin, muscle and other tissues of the patientinto the vertebral body 310.

The tip 308 of the sharp-tipped rod is visible in FIG. 16.

FIG. 9 shows the bottom half-handle 306 with the attached cannula 304embedded in the vertebral body 310. The top half-handle (not shown) hasbeen unscrewed and set aside from the bottom half-handle 306. In FIG.10, a guide wire 312 is inserted into the vertebral body 310 via thebottom half-handle 306 and the cannula 304.

In FIG. 11, the bottom half-handle 306 and the cannula 304 are removedfrom the vertebral body 310. Preferably, the guide wire 312 remains inplace in the vertebral body 310.

FIG. 12 shows the guide wire 312 in the vertebral body 310 after thebottom half-handle 306 and the cannula 304 are removed.

FIGS. 13-14 show one embodiment of the invention in which an inflatabletissue expander for enlarging the tissue tract is used. In FIG. 13, aballoon catheter 314 carrying a balloon 316 is advanced over the guidewire 312 towards the vertebral body 310. In FIG. 14, the balloon 316 isinflated to dilate the tissues adjacent the access pathway to thevertebral body 310. This provides an enlarged path for the insertion ofa sheath as described below.

In FIG. 15, a guide tube 322 is advanced over the guide wire 312 intothe vertebral body 310. As shown in FIG. 16, in one embodiment, theguide tube 322 may be approximately the same diameter as the cannula 304of the trocar 300, allowing the guide tube 322 to be inserted into theopening in the vertebral body 310 created earlier by the trocar 300. Theguide tube 322 acts as a stable rail over which a tapered dilationcylinder 324 may be advanced against the vertebral body 310.

In FIGS. 16-17, a tapered dilation cylinder 324 is advanced over theguide tube 322 against the vertebral body 310. In one embodiment, thetapered dilation cylinder 324 may be approximately the same diameter asthe inflated dilation balloon 316 discussed above with reference toFIGS. 13-14. The tapered dilation cylinder 324 is used to occupy thepath created by the dilation balloon, and facilitates the insertion of asheath. In an alternate sequence, the dilation cylinder 324 is providedwithout a tapered distal end, and is distally advanced into positiondirectly over the inflatable balloon.

In FIGS. 18-20, a sheath 320 is advanced over the tapered dilationcylinder 324 against the vertebral body 310. The sheath 320 occupies thepath created by the dilation balloon. Afterwards, the guide tube 322 andthe tapered dilation cylinder 324 are removed. As shown in FIG. 20, theguide wire 312 preferably remains in the vertebral body 310 after theplacement of the sheath 320.

In FIGS. 21-23, a drill 330 having a rotatable distal tip 332 isadvanced over the guide wire 312 and through the sheath 320. The drill330 drills an opening (not shown) in the vertebral body 310 adapted forthe insertion of a bone anchor 100. Afterwards, the drill 330 isremoved. In FIGS. 24-25, the bone anchor 100 is advanced over the guidewire 312 and through the sheath 320 towards the vertebral body 310.

In FIGS. 24 and 25, a bone anchor 100 is advanced over the wire 312 andthrough the sheath 320 into engagement with the vertebral body 310.Although the insertion tool 250 is not illustrated, the bone anchor 100may be coupled to the insertion tool 250 prior to the step of advancingthe bone anchor 100 into contact with the vertebral body 310.

FIGS. 26 and 27 show the outer adapter 152 and the inner adapter 154 ofthe driver 150, as well as a bone anchor 100, with the connector 104 andthe locking cap 106 disposed within the head 108 of the bone anchor 100.The interrelation of these components have been described in detailabove with reference to FIGS. 2 and 3A. The outer adapter 152illustrated in FIGS. 26-28 additionally comprises a pivot hole 153 whichextend through a diameter of the outer adapter 152. The pivot hole 153is adapted for the attachment of a guide wire insertion device 400described in further detail below. In FIG. 28, these components areshown arranged over a guide wire 190.

In FIG. 28, the driver 150 (comprising the outer adapter 152 and theinner adapter 154) is advanced over the guide wire 312 until the driver150 engages the bone anchor 100. In FIGS. 29 and 30, torque is appliedto the outer adapter 152 to screw the bone anchor 100 into the vertebralbody 310. In FIG. 31, the driver 150 is removed, leaving the bone anchor100 in place, with the longitudinal axis of the portal 116 alignedapproximately parallel with the longitudinal axis of the spine. Thesheath 320, discussed above with reference to FIGS. 18-25, while notshown in the steps discussed with reference to FIGS. 28-31, maynonetheless be used to shield the driver from adjacent tissue in thesesteps, as will be understood by those skilled in the art.

In FIG. 32, a second bone anchor 340 has been inserted into anothervertebral body 350. While bone anchors 100 and 340 are shown insertedinto adjacent vertebral bodies 310 and 350, respectively, the system andmethods for minimally invasive spinal fixation according to theembodiments of the present invention are also applicable to nonadjacentvertebral bodies. For example, a first bone anchor may be positioned ina first vertebral body as has been described above. A second bone anchormay be positioned in a second vertebral body, spaced apart from thefirst vertebral body by one or more intervening third vertebral bodies.The first and second bone anchors may thereafter be connected by theimplantation of a linkage rod 200. Alternatively, a third bone anchormay be positioned in a third vertebral body, positioned in between thefirst and second vertebral bodies to produce, for example, a three levelfusion system as will be discussed.

FIG. 33 shows an overview of the guide wire insertion device 400according to one embodiment of the invention. The guide wire insertiondevice comprises a handle 410 and a hollow access needle 450. The handle410 is detachably joined to the outer adapter 152 of the driver 150. Thehandle 410 is forked at its proximal end 412. Each fork is provided witha pivot pin 414, which engages the pivot hole 153 (FIG. 28) of the outeradapter 152. The forked proximal end 412 of the handle 410 may be spreadslightly to allow the pivot pins 414 to engage the pivot hole 153. Thehandle 410 swings on its pivot pins 414 at the pivot hole 153 of theouter adapter 152 of the driver 150 to insert the access needle 450through the transverse portal 116 of the bone anchor 100.

A hollow access needle 450 is attached to the distal end 416 of thehandle 410. In one embodiment, the access needle 450 is disposed withinan opening 418 at the distal end 416 of the handle 410. A screw (notshown) may be threaded through a screw hole 420 at the distal end 416 ofthe handle 410 to tighten the access needle 450 within the opening 418.The lengthwise position of the access needle 450 within the opening 418is therefore adjustable to allow the access needle 450 to be aimedthrough the transverse portal 116 of the bone anchor 100. In oneembodiment, the access needle 450 may be aimed such that it passesthrough the transverse portal 116 at a point lower (towards the threads102 in FIG. 2) than the center of the transverse portal 116 becauseobstructions encountered during the in vivo insertion of the accessneedle 450 may deflect the needle 450 towards the inside of itscurvature and the center of the transverse portal 116.

In several embodiments, the sharp, tapered distal end 452 of the accessneedle 450 terminates at an opening 454. In one embodiment, the accessneedle 450 is provided with threaded proximal end 456, the purpose ofwhich is described in further detail below.

FIG. 34 illustrates a flexible obturator 500 of the guide wire insertiondevice 400 according to one embodiment. The obturator 500 comprises atubing 502, a threaded cap 504 on its proximal end and a plug 506 on itsdistal end. The tubing 502 is sized such that it fits snugly within thehollow access needle 450 and occupies the length of its lumen. The cap504 can be made with a threaded luer connector which may be tightenedonto the threaded proximal end 456 of the access needle 450. The plug506 may be formed from an adhesive, for example, Loctite 3104, etc. Theobturator 500 occupies the lumen of the access needle 450, and minimizesthe collection of tissue or other matter within the access needle 450 asit is advanced through the patient.

FIG. 35 shows a first guide wire insertion device 400 joined to a firstouter adapter 152 engaging a first bone anchor 100 and a second guidewire insertion device 400′ joined to the outer adapter 152′ engaging asecond bone anchor 340. In one embodiment, both handles 410 and 410′ arepivoted with respect to outer adapters 152 and 152′ to advance accessneedles 450 and 450′ through the patient's tissues and towards thetransverse portals 116 of bone anchors 100 and 340, respectively. FIG.35 also shows an obturator 500 according to one embodiment beinginserted into the access needle 450 of the guide wire insertion device400 as described above with reference to FIG. 34. Preferably, theobturator 500 is inserted into the access needle 450 and threaded ontoits threaded proximal end 456 before the access needle 450 is insertedinto the patient. Likewise, another obturator 500 may be inserted intothe access needle 450′.

In one embodiment of the present invention, the guide wire insertiondevice 400 additionally comprises a guide wire snare or capture device530, illustrated in FIG. 36. The guide wire capture device 530 comprisesan inner tubing 532 located coaxially within an outer tubing 534. Theinner tubing 532 is provided with an inner half-cone 536 and the outertubing 534 is provided with an outer half cone 538. The inner half-cone536 may be furled and retracted within the outer tubing 534. Likewise,the outer half-cone 536 may be furled to ease its insertion into andnavigation through the lumen of the hollow access needle 450. Innerhalf-cone 536 may be rotationally oriented with respect to outerhalf-cone 538 to form the conical funnel 540 of the guide wire capturedevice 530, as illustrated in FIG. 37. When a guide wire contacts theconical funnel 540 of the guide wire capture device 530, the guide wireis directed into the lumen 542 of the inner tubing 532. The guide wirecapture device 530 also additionally comprises a handle 544 in theillustrated embodiment.

In FIG. 38, the access needle 450 has been advanced through thetransverse portal 116 of bone anchor 100, and access needle 450′ hasbeen advanced through the transverse portal 116 of bone anchor 340. Theguide wire capture device 530 is inserted through the lumen of theaccess needle 450, and its conical funnel 540 is deployed. A guide wire368 is inserted through the lumen of the access needle 450′ and advancedtowards the conical funnel 540 of the guide wire capture device 530.When the guide wire 368 contacts the conical funnel 540, the guide wire368 is directed into the lumen 542 of the inner tubing 532 of the guidewire capture device 530.

In FIG. 39, the guide wire 368 is advanced through the lumen 542 of theinner tubing 532 until it extends past the handle 544 of the guide wirecapture device 530 Various methods of inserting guide wires are known inthe art and the invention is not limited to the methods disclosedherein. Instead, any method of inserting a guide wire known to thoseskilled in the art may be used in accordance with the present invention.Following placement of the guide wire 368, the first insertion device400 and second insertion device 400′ may be removed.

A flexible or curved bone drill (not shown) may be advanced along theguide wire 368 to clear a path between the transverse portals 116 ofbone anchors 100 and 340. In one embodiment, the bone drill arm carryingthe drill bit is provided with a certain degree of flexibility to allowit to travel along the arcuate course of the guide wire 368. In anotherembodiment, the curvature the bone drill arm carrying the drill bit ismatched to the curvature of the linkage rod 200 to ensure that the pathcleared between transverse portals 116 of bone anchors 100 and 340 fitsthe linkage rod 200. The bone drill is removed from the guide wire 368after a path has been cleared between transverse portals 116 of boneanchors 100 and 340.

In FIG. 40, a linkage rod 200 and its insertion tool 250 are shownarranged over the guide wire 368. The linkage rod 200 and insertion tool250 are described above with reference to FIGS. 4-6. The linkage rod 200and insertion tool 250 in the embodiment illustrated in FIG. 40 areprovided with slightly different indexing features than the linkage rodand insertion tool described with reference to FIGS. 4-6. Referringagain to FIG. 40, the linkage rod 200 is provided with one or more bumps220 on its hexagonal proximal end 202. The bumps 220 are complementarywith one or more holes 280 at the distal end of the insertion tool 250.In FIG. 40, the linkage rod 200 is detached from the insertion tool 250.The attachment of the linkage rod 200 to the insertion tool 250 isdescribed above with reference to FIGS. 4-6.

In FIG. 41, the insertion tool 250 is used to advance the linkage rod200 over the guide wire 368 towards the bone anchors 100 and 340. Whilethe linkage rod 200 is inserted from a rostral or sacral approach(tail-to-head) in the illustrated embodiment, it may also be insertedfrom a caudal approach (head-to-tail) in another embodiment.

In FIG. 42, the linkage rod 200 is inserted through the respectiveconnectors 104 within bone anchors 100 and 340. The connector 104 withinthe bone anchor 100 is described above with reference to FIGS. 2-3. InFIGS. 43-44, the inner adapter 154 of the driver 150 is used to tightenthe locking cap 106 within the bone anchor 340, fixing the linkage rod200 within the bone anchor 340, as described above with reference toFIGS. 2-3. The outer adapter 152 of the driver 150 engages the head ofbone anchor 340 to prevent it from rotating as the locking cap istightened. The engagement between the bone anchor 340 and the driver 150is described above with reference to FIGS. 1-3 in the context of boneanchor 100.

In FIG. 44, the driver 150 (comprising the outer adapter 152 and theinner adapter 154) is withdrawn from the bone anchor 340. The lockingcap 106 in the bone anchor 100 is similarly tightened, fixing thelinkage rod 200 within the bone anchor 100.

In FIG. 45, the insertion tool 250 is released from the linkage rod 200.The attachment and detachment of the linkage rod 200 to and from theinsertion tool 250 is discussed above with reference to FIGS. 4-6.Afterwards, the driver 150, the sheath 320 and the guide wire 368 areremoved from the patient.

FIG. 46 illustrates the percutaneously assembled in place prosthesisresulting from the procedure described above, comprising the boneanchors 100, 340 and the linkage rod 200.

FIG. 47 illustrates a three level prosthesis comprising an additionalbone anchor inserted into an additional adjacent vertebral body, toprovide a three level spinal fusion.

Referring to FIGS. 48 and 49, there is illustrated an alternateimplementation of the invention. FIG. 48 illustrates a side elevationalview of a modified linkage rod 200. Linkage rod 200 in FIG. 48 may bethe same general dimensions and configuration as the linkage rodsdisclosed previously herein, except as described below. In all of thelinkage rods disclosed herein, the linkage rod 200 comprises an elongatebody 401 extending between a proximal end 402 and a distal end 404. Thelength of the body 401 in a device intended for use in a human adult onelevel lumbar or lumbar-sacral fusion, will generally be in the rangefrom about 30 mm to about 90 mm. A linkage rod 200 intended for a twolevel fusion in the same environment will generally have a length withinthe range of from about 50 mm to about 110 mm.

In an embodiment of the body 401 having a circular cross sectionalconfiguration, the diameter of the body 401 will generally be in therange of from about 3 mm to about 8 mm. In one embodiment, the diameterof the body 401 in a two level fusion device is about 6.35 mm. Ingeneral, the cross sectional area of the body 401, which may beexpressed as a diameter in a circular cross sectional implementation,may be varied depending upon the desired structural integrity of thefinished implant.

The distal end 404 of the body 401 may be provided with a distal opening408 to a central guidewire lumen, not illustrated. The distal end 404may also be provided with tapered tip 406 as has been previouslydiscussed. In general, the tapered tip 406 may facilitate navigationthrough the tissue tract, as well as introduction of the body 401 intothe bone anchor. Tapered tip 406 may be integrally formed with the body401, or attached thereto in a subsequent manufacturing step.

The body 401 is generally provided with a preformed curve, such that itforms a portion of an arc as illustrated. In certain implementations ofthe invention, the arc has an approximately constant radius of curvaturealong the length the body 401. The radius of curvature of body 401 isgenerally in excess of about 19 cm, and, in many embodiments, within therange of from about 8 cm to about 30 cm. In one implementation of theinvention, intended for a two level fusion, the overall length of thebody 401 is about 65 mm, the diameter is about 6.35 mm, and the radiusof curvature is about 19 cm.

The radius of curvature of the body 401 may be equal or approximatelythe same as the radius of curvature of the hollow access needle 450 inthe guidewire insertion device 400 discussed previously. Thus, theradius may be approximately equal to the distance between the accessneedle 450 and the pivot point 414, which is also equal to the effectivelever arm length of the handle 410. This facilitates introduction of thelinkage rod 200 along the same curved tissue tract used by or created bythe access needle 450.

The linkage rod 200 illustrated in FIG. 48, unlike the embodimentspreviously illustrated herein, includes a distinct distal lockingsurface 410 formed by a discontinuity in the outer profile of the body401. In the illustrated embodiment the distal locking surface 410 is inthe form of an increase in the cross sectional area of the body 401,such as a spherical or curved enlargement of the profile of the body401. This distal locking surfaced 410 is adapted to cooperate with amodified bone anchor, illustrated in FIG. 49.

FIG. 49 is an enlarged, explored view of the proximal end of the boneanchor and distal end of a driver tool as illustrated in FIG. 3A, exceptthat the connector 104 has been omitted from the embodiment illustratedin FIG. 49. Instead, the distal locking surface 410 is adapted forinsertion through the transverse portal 116 and positioning within theproximal head 108. The locking cap 106 may be threadably distallyadvanced into the head 108, to compress against the distal lockingsurface 410 and lock the bone anchor with respect to the linkage rodthroughout any of a variety of angular orientations, as had beendiscussed previously. For this purpose, the distal wall of the chamberwithin the head 108 may be provided with a complimentary curved surfacefor cooperating with the distal locking surface 410. Similarly, thedistal surface on the locking cap 106 may be concave in the distaldirection, to increase the surface area of contact between the lockingcap 106 and the distal locking surface 410.

A similar locking configuration may be used in connection with theproximal bone anchor, and the proximal locking surface 412. Proximallocking surface 412 is carried by an axially moveable tubular collar414. In the illustrated embodiment, the collar 414 comprises a generallytubular body axially movably carried by the body 401 of the linkage rod200. The proximal locking surface 412 comprises a spherical,semi-spherical, curved or other enlargement in the cross-sectional areacollar 414, to provide a locking surface which may be useful throughouta variety of angular orientations as has described. One or two or threeor four more axially extending slots 416 may be provided on the proximallock, to facilitate compression of the lock from a slideable orientationto a locked orientation in which it is compressed against the body 401.In the illustrated embodiment, two or more axially extending slotsextend in a proximal direction from the distal end of the lock.

In use, the linkage rod 200 is advanced distally along a guidewire,through a tube, or otherwise through the first and second bone anchors.With the distal locking surface 410 positioned within the proximal head108 of the distal bone anchor, the locking cap 106 of the distal boneanchor is tightened to lock the linkage rod 200 with respect the distalbone anchor. The proximal lock is thereafter axially distally advancedalong the insertion tool and/or linkage rod 200, until the proximallocking surface 412 is positioned within the head 108 of the proximalbone anchor. The locking cap 106 of the proximal bone anchor istightened, to lock the proximal locking surface 412 against the body401.

The proximal lock may be distally advanced along the insertion tooland/or linkage rod 200 in any of a variety of manners, such as bydistally advancing a pusher sleeve which is axially movably carried onthe insertion tool.

In one embodiment, the transverse portal 116 of the proximal bone anchoris provided with a proximal opening having a first diameter and distalopening having a second, smaller diameter. The outside diameter ofproximal locking surface 412 is dimensioned relative to the portal 116such that it can pass through the proximal opening on the transverseportal 116 but cannot pass distally through the distal opening of thetransverse portal 116. In this manner, the clinician can perceivetactile feedback once the proximal lock has been distally advanced intoposition within the head 108. This same construction can be utilized onthe distal bone anchor as well, such that distal advancement of thedistal locking surface 410 may be accomplished until the positive stopis felt by the clinician as the distal locking surface 410 is seatedwithin the head 108. The driver tool can be provided with indicium ofthe rotational position of the bone anchor.

In all of the foregoing embodiments, the insertion tool may be providedwith a curved distal region, having a radius of curvature whichapproximates the radius of curvature of the linkage rod, describedabove. Thus, in one embodiment both the linkage rod 200 and the distalportion of the insertion tool are provided with a curve having a radiusof approximately 12 cm. This further facilitates introduction of thelinkage rod and insertion tool along a curved tissue tract, whileminimizing trauma to surrounding tissue, as the linkage rod 200 isnavigated through the first and second bone anchors.

The foregoing construction also allows the percutaneous access site forthe introduction of the linkage rod 200 to be predetermined distancefrom the longitudinal axis of the driver 150. For example, in oneimplementation of the guidance system, the radius of curvature of thecurved needle 450 is approximately 9 cm. This enables the percutaneousaccess site to be approximately 8 centimeters from the percutaneousentry site for the driver 150. The transdermal access site for thelinkage rod is preferably no more than about one radius away from thedriver 150. This allows minimization of the length of the tissue tract,and thus minimizes the access induced trauma to surrounding tissue.

Not all of the steps described above are critical to the minimallyinvasive implantation of posterior fixation hardware. Accordingly, someof the described steps may be omitted or performed in an order differentfrom that disclosed. Further, additional steps may be contemplated bythose skilled in the art in view of the disclosure herein, withoutdeparting from the scope of the present invention.

The present inventors contemplate the interchangeability of andrecombination of various structural and method elements in the foregoingdescription. For example, the guidewire may be positioned throughportals of adjacent bone anchors utilizing either the proceduresdisclosed in the copending patent applications previously incorporatedby reference herein. Alternatively, the guidewire may be positionedutilizing the pivotable guidance system disclosed herein. As a furtheralternative, a tubular sleeve may be advanced over the guidewire andthrough the portals on bone anchors 100, with the guidewire thereafterremoved. The linkage rod 200 may thereafter be advanced through thetubular sleeve.

The linkage rod 200 may be advanced utilizing the manual insertion tool250, as disclosed herein. Alternatively, the linkage rod 200 may bereleasably connected to the distal end of a curved pivotable arm 450,using releasable connection structures disclosed elsewhere herein. Inthis manner, the pivotable insertion system such as that illustrated inFIG. 33 can be utilized to insert the linkage rod 200 through one ormore apertures 116 in one or more bone anchors 100.

The various materials, methods and techniques described above provide anumber of ways to carry out the invention. Of course, it is to beunderstood that not necessarily all objectives or advantages describedmay be achieved in accordance with any particular embodiment describedherein. Thus, for example, those skilled in the art will recognize thatthe components of the system may be made and the methods may beperformed in a manner that achieves or optimizes one advantage or groupof advantages as taught herein without necessarily achieving otherobjectives or advantages as may be taught or suggested herein.

Although the present invention has been described in terms of certainpreferred embodiments, other embodiments of the invention includingvariations in dimensions, configuration and materials will be apparentto those of skill in the art in view of the disclosure herein. Inaddition, all features discussed in connection with any one embodimentherein can be readily adapted for use in other embodiments herein. Theuse of different terms or reference numerals for similar features indifferent embodiments does not imply differences other than those whichmay be expressly set forth. Accordingly, the present invention isintended to be described solely by reference to the appended claims, andnot limited to the preferred embodiments disclosed herein.

1. A method for minimally invasive posterior fixation, comprising:securing a bone anchor to a vertebral body, said bone anchor providedwith an adjustable connector; advancing a trocar having a removable capconnected to a second portion of the trocar having a sharp tippedcannula wherein removing the cap exposes a lumen configured to receive aguide wire; inserting a guide wire into the lumen and advancing theguide wire to a desired position; removing the trocar; inserting a rodover a guide wire along an arcuate path through said adjustableconnector; and adjusting said adjustable connector to fix said rod withrespect to said bone anchor.
 2. The method of claim 1 furthercomprising: securing a second bone anchor to a second vertebral body,said second bone anchor provided with a second adjustable connector;inserting said rod through said second adjustable connector; andsecuring said second adjustable connector to fix said rod with respectto said second bone anchor.
 3. The method of claim 2 wherein said firstvertebral body and said second vertebral body are adjacent vertebralbodies.
 4. The method of claim 2 wherein said first vertebral body andsaid second vertebral body are separated by one or more other vertebralbodies.
 5. The method of claim 1 wherein said guide wire is inserted viaan access needle provided at the end of a handle which is attached at apivot to a driver aligned with a central axis of said first bone anchor,whereby said handle is pivoted about said pivot to insert said accessneedle through said first rotating connector.
 6. The method of claim 1,wherein the bone anchor includes a first aperture, the method furthercomprises: securing a second bone anchor, having a second aperture, to asecond vertebral body; providing a curved guide needle; advancing theguide needle through at least one of the first and second apertures; andadvancing the guide wire through the first and second apertures.
 7. Themethod of claim 6, wherein the first and second vertebral bodies areadjacent vertebral bodies.
 8. The method of claim 6, wherein the firstand second vertebral bodies are separated by a third vertebral body. 9.The method of claim 6 wherein the guide needle has a radius of curvaturewithin the range of from about 6 cm to about 15 cm.
 10. The method ofclaim 6, additionally comprising the step of advancing a fixation devicealong the guide wire.
 11. The method of implanting spinal fusionhardware as in claim 10, wherein the advancing a fixation device stepcomprises advancing an inflatable fixation device.
 12. The method ofclaim 10, wherein the advancing a fixation device step comprisesadvancing a preformed, rigid fixation device.
 13. The method of claim 6,additionally comprising the step of advancing a guide tube along theguide wire and through the first and second apertures.
 14. The method ofclaim 13, additionally comprising the step of advancing a fixationdevice through the guide tube.
 15. The method of claim 1 furthercomprising: securing a second bone anchor to a second vertebral body;advancing the guide wire through a tissue tract to the bone anchor;deflecting the guide wire in between the bone anchor and the second boneanchor; and advancing the guide wire to the second bone anchor.